Panasonic MINAS A6 Multi Series Technical Reference page 283

10.1Servo drive system startup timing diagram on control power-up
*1 It is shown that an instruction input receptionist is not ready in this section. Please input instructions after the completion of
preparation.
*2 The servo ready is turned on when all the following conditions are satisfied:
- Initialization of microcomputer is completed
- Main power supply is established
- Not in STO state
- No alarm is issued
- EtherCAT communication is established
*3 After Internal control power supply, protective functions are active from approx. 1.5 sec after the start of initializing microcomputer.
Please set the signals, especially for protective function, for example over-travel inhibit input (POT, NOT) or external scale input, so as
to decide their logic until this term. The lapse time can be changed with Pr 6.18 Power-up wait time.
*4 A brake release output (BRK-OFF) is different from the set brake of 60FEh via EtherCAT communication.
*5 The set brake output is output controlled by the set brake of 60FEh/68FEh via EtherCAT communication. For information on the set
brake output details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".
The set brake output can be released in the servo-off state.Therefore, please control the set brake output in consideration of safety.
*6 Pr4.59 "Mechanical brake signal setup" can be used to select the timings at which the brake connected to the mechanical brake
output (BRK+/BRK-) is operated or released. The figure shows the case where set_brake output is selected for mechanical brake
output (BRK+/BRK-).
*7 When controlling the mechanical brake from the servo control I / O connector X4,Assign an arbitrary brake signal (BRK-OFF, set
brake) to the general-purpose output, referring to "2.4 I/O signal allocation function".The figure shows the case when brake release
output (BRK-OFF) is selected for SO1 or SO2.
*8 Object operation from the host controller is required for the PDS state transition of EtherCAT communication.
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".
*9 If the power supply module is not in the main power supply established state, the EtherCAT communication PDS state cannot be
changed from Ready to switch on to Switched on.
*10 During the connected number confirmation period, the power supply module searches for connected driver modules via inter-module
communication.If a driver module with an inter-module communication node address of 1 is not found during this time, the power
supply module detects PSM Err. 26 (PSM inter-module communication ID setting error protection).If the number of connected devices
is exceeded, PSM Err.22 (PSM connected number excess error protection) is detected.Note that in these cases, all driver modules
connected to this power supply module will have a corresponding protection function (Err69.5 or Err69.6).
*11 With a power supply module, the time from when the main power supply of AC400V is turned on until the main power supply is
established varies greatly depending on the power supply capacity connected to the main power supply and the capacity and number
of driver modules connected to the power supply module. Visually confirm that the green LED (RDY) on the front panel of the power
supply module is lit, and that the 7-segment LED on the front panel of the driver module is the decimal point in the right digit of the
normal display, and that the main power supply is established when no alarm is generated. I can do it.In EtherCAT communication, it
is possible to confirm the establishment of the main power supply by checking the servo ready (S-RDY) status and making the correct
transition after switching the PDS status to Switched on.
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